commit 576b0c9e67e643929143dd9646d9f3368de64765
author Maxwell Henderson <mxwhenderson@gmail.com> Fri Feb 23 17:10:48 2024 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Fri Feb 23 19:11:55 2024 -0800
tree c3cc8d5f9c1a3af90a0253542a7e3c203fc06cfb
parent 461a8a4351a88d6643b86994de41830b528b29ff

Add catapult beambreak into wpilib_interface

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I214c9cd7e573422c75efc4e1be23b8f37250b265

y2024/wpilib_interface.cc

diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 2686651..c0dcc9a 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -204,6 +204,7 @@
                        ->potentiometer_offset());
 
       builder->set_transfer_beambreak(transfer_beam_break_->Get());
+      builder->set_catapult_beambreak(catapult_beam_break_->Get());
       builder.CheckOk(builder.Send());
     }
 
@@ -272,6 +273,10 @@
     transfer_beam_break_ = ::std::move(sensor);
   }
 
+  void set_catapult_beambreak(::std::unique_ptr<frc::DigitalInput> sensor) {
+    catapult_beam_break_ = ::std::move(sensor);
+  }
+
   void set_climber(::std::unique_ptr<frc::Encoder> encoder,
                    ::std::unique_ptr<frc::DigitalInput> absolute_pwm,
                    ::std::unique_ptr<frc::AnalogInput> potentiometer) {
@@ -328,7 +333,8 @@
 
   std::array<std::unique_ptr<frc::DigitalInput>, 2> autonomous_modes_;
 
-  std::unique_ptr<frc::DigitalInput> imu_yaw_rate_input_, transfer_beam_break_;
+  std::unique_ptr<frc::DigitalInput> imu_yaw_rate_input_, transfer_beam_break_,
+      catapult_beam_break_;
 
   frc971::wpilib::AbsoluteEncoder intake_pivot_encoder_;
   frc971::wpilib::AbsoluteEncoderAndPotentiometer climber_encoder_,
@@ -417,6 +423,7 @@
     sensor_reader.set_intake_pivot(make_encoder(3),
                                    make_unique<frc::DigitalInput>(3));
     sensor_reader.set_transfer_beambreak(make_unique<frc::DigitalInput>(23));
+    sensor_reader.set_catapult_beambreak(make_unique<frc::DigitalInput>(24));
 
     sensor_reader.set_climber(make_encoder(5),
                               make_unique<frc::DigitalInput>(5),